Yannick Andreu / Mbed 2 deprecated Robot_Autonome_Proto

Andreu- Felix

Dependencies:   SRF08 mbed

main.cpp@0:afd478f066b0, 2017-07-03 (annotated)

Committer:
yannickrda
Date:
Mon Jul 03 10:13:36 2017 +0000
Revision:
0:afd478f066b0
Final!!!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yannickrda 0:afd478f066b0 1 #include "mbed.h"
yannickrda 0:afd478f066b0 2 #include "commande.h"
yannickrda 0:afd478f066b0 3 #include <SRF08.h>
yannickrda 0:afd478f066b0 4 #define adr 128
yannickrda 0:afd478f066b0 5
yannickrda 0:afd478f066b0 6 //***************************************************
yannickrda 0:afd478f066b0 7 //************** Déclaration des objets *************
yannickrda 0:afd478f066b0 8 //***************************************************
yannickrda 0:afd478f066b0 9
yannickrda 0:afd478f066b0 10 Serial bt(p13, p14);
yannickrda 0:afd478f066b0 11 PwmOut pwm(p26); //objet
yannickrda 0:afd478f066b0 12 Serial pc(USBTX,USBRX);
yannickrda 0:afd478f066b0 13 SRF08 capt(p28,p27,0xE0);
yannickrda 0:afd478f066b0 14 AnalogIn optique(p15);
yannickrda 0:afd478f066b0 15
yannickrda 0:afd478f066b0 16 commande robot;
yannickrda 0:afd478f066b0 17
yannickrda 0:afd478f066b0 18 //***************************************************
yannickrda 0:afd478f066b0 19 //************** Prototypes fonctions ***************
yannickrda 0:afd478f066b0 20 //***************************************************
yannickrda 0:afd478f066b0 21
yannickrda 0:afd478f066b0 22 void PWM(void); // prototype fonction (cfr bas)
yannickrda 0:afd478f066b0 23 void acqui(void);
yannickrda 0:afd478f066b0 24 void autonomie(void);
yannickrda 0:afd478f066b0 25
yannickrda 0:afd478f066b0 26
yannickrda 0:afd478f066b0 27 //***************************************************
yannickrda 0:afd478f066b0 28 //**************** Variables Gobales ****************
yannickrda 0:afd478f066b0 29 //***************************************************
yannickrda 0:afd478f066b0 30
yannickrda 0:afd478f066b0 31 float pulse;
yannickrda 0:afd478f066b0 32 int distance;
yannickrda 0:afd478f066b0 33 unsigned c;
yannickrda 0:afd478f066b0 34 float droite, gauche,devant,capteur;
yannickrda 0:afd478f066b0 35 int right,left,straight,vu;
yannickrda 0:afd478f066b0 36
yannickrda 0:afd478f066b0 37 //***************************************************
yannickrda 0:afd478f066b0 38 //********************** MAIN ***********************
yannickrda 0:afd478f066b0 39 //***************************************************
yannickrda 0:afd478f066b0 40
yannickrda 0:afd478f066b0 41 int main()
yannickrda 0:afd478f066b0 42 {
yannickrda 0:afd478f066b0 43 bt.baud(57600);
yannickrda 0:afd478f066b0 44 while(1)
yannickrda 0:afd478f066b0 45 {
yannickrda 0:afd478f066b0 46 autonomie();
yannickrda 0:afd478f066b0 47 /*while(1){
yannickrda 0:afd478f066b0 48 char choix = bt.getc();
yannickrda 0:afd478f066b0 49
yannickrda 0:afd478f066b0 50 if(choix=='0'){
yannickrda 0:afd478f066b0 51 robot.avancer(50);bt.printf("avance\n");}
yannickrda 0:afd478f066b0 52 else if(choix=='1'){
yannickrda 0:afd478f066b0 53 robot.reculer(50);bt.printf("recule\n");}
yannickrda 0:afd478f066b0 54 else if(choix=='2'){
yannickrda 0:afd478f066b0 55 robot.tourner_gauche(60);bt.printf("gauche\n");}
yannickrda 0:afd478f066b0 56 else if(choix=='3'){
yannickrda 0:afd478f066b0 57 robot.tourner_droite(60);bt.printf("droite\n");}
yannickrda 0:afd478f066b0 58 else if(choix=='4'){
yannickrda 0:afd478f066b0 59 robot.stop();bt.printf("stop\n\r");}
yannickrda 0:afd478f066b0 60 else if(choix=='5')
yannickrda 0:afd478f066b0 61 break;
yannickrda 0:afd478f066b0 62 }*/
yannickrda 0:afd478f066b0 63 }
yannickrda 0:afd478f066b0 64 }
yannickrda 0:afd478f066b0 65
yannickrda 0:afd478f066b0 66 //****************************************************
yannickrda 0:afd478f066b0 67 //******************** Fonctions *********************
yannickrda 0:afd478f066b0 68 //****************************************************
yannickrda 0:afd478f066b0 69
yannickrda 0:afd478f066b0 70
yannickrda 0:afd478f066b0 71 /*void direction ( int x) //objectif faire le CHOIX de la meilleure direction
yannickrda 0:afd478f066b0 72 {
yannickrda 0:afd478f066b0 73 if((straight < (left + 10)) && (straight < (right + 10))
yannickrda 0:afd478f066b0 74 {robot.avancer(50);bt.printf("avance\n");}
yannickrda 0:afd478f066b0 75 if((left > (right + 15)) && (left >= (straight + 15))){ // pourquoi le + XX ? parce que le capteur est trop sensible pour varier suivant l'unité choisie
yannickrda 0:afd478f066b0 76 robot.tourner_droite(60);bt.printf("droite\n"); // comparaison capteur relevé devant, à gauche et à droite, => la valeur la plus faible (= obstacle le + loin) l'emporte
yannickrda 0:afd478f066b0 77 robot.avancer(50);bt.printf("avance\n");}
yannickrda 0:afd478f066b0 78 if((right > (left + 15)) && (right >= (straight + 15))){
yannickrda 0:afd478f066b0 79 robot.tourner_gauche(60);bt.printf("gauche\n");
yannickrda 0:afd478f066b0 80 robot.avancer(50);bt.printf("avance\n");}
yannickrda 0:afd478f066b0 81 }*/
yannickrda 0:afd478f066b0 82 void autonomie()
yannickrda 0:afd478f066b0 83 {
yannickrda 0:afd478f066b0 84 pwm.period_ms(20); //définition da la largeur de l'impulsion: 20 ms
yannickrda 0:afd478f066b0 85 pulse=0.0715;
yannickrda 0:afd478f066b0 86
yannickrda 0:afd478f066b0 87 while(1)
yannickrda 0:afd478f066b0 88 {
yannickrda 0:afd478f066b0 89
yannickrda 0:afd478f066b0 90 pulse=0.0715;pwm.write(pulse);acqui(); //capteur centre
yannickrda 0:afd478f066b0 91 devant=vu; straight=capteur;
yannickrda 0:afd478f066b0 92 if(straight>50)
yannickrda 0:afd478f066b0 93 robot.avance(50);
yannickrda 0:afd478f066b0 94 while(devant<60 && straight<50)
yannickrda 0:afd478f066b0 95 {
yannickrda 0:afd478f066b0 96 robot.stop();
yannickrda 0:afd478f066b0 97 pulse=0.095;wait(0.03);pwm.write(pulse);acqui(); //capteur gauche
yannickrda 0:afd478f066b0 98 gauche=vu; left=capteur;
yannickrda 0:afd478f066b0 99
yannickrda 0:afd478f066b0 100 pulse=0.048;wait(0.03);pwm.write(pulse);acqui(); //dcapteur roite
yannickrda 0:afd478f066b0 101 droite=vu; right=capteur;
yannickrda 0:afd478f066b0 102
yannickrda 0:afd478f066b0 103 if(gauche<droite)
yannickrda 0:afd478f066b0 104 {
yannickrda 0:afd478f066b0 105 robot.tourner_gauche(40);
yannickrda 0:afd478f066b0 106 wait(0.6);
yannickrda 0:afd478f066b0 107 robot.stop();
yannickrda 0:afd478f066b0 108 }
yannickrda 0:afd478f066b0 109 else if(gauche>droite)
yannickrda 0:afd478f066b0 110 {
yannickrda 0:afd478f066b0 111 robot.tourner_droite(40);
yannickrda 0:afd478f066b0 112 wait(0.6);
yannickrda 0:afd478f066b0 113 robot.stop();
yannickrda 0:afd478f066b0 114 }
yannickrda 0:afd478f066b0 115 pulse=0.0715;wait(0.03);pwm.write(pulse);acqui(); //capteur centre
yannickrda 0:afd478f066b0 116 devant=vu; straight=capteur;
yannickrda 0:afd478f066b0 117 }
yannickrda 0:afd478f066b0 118 }
yannickrda 0:afd478f066b0 119 }
yannickrda 0:afd478f066b0 120 /*
yannickrda 0:afd478f066b0 121 pulse=0.095;pwm.write(pulse);acqui(); //gauche
yannickrda 0:afd478f066b0 122 gauche=vu; left=capteur;
yannickrda 0:afd478f066b0 123 pulse=0.0715;pwm.write(pulse);acqui(); //centre
yannickrda 0:afd478f066b0 124 devant=vu; straight=capteur;
yannickrda 0:afd478f066b0 125 pulse=0.048;pwm.write(pulse);acqui(); //droite
yannickrda 0:afd478f066b0 126 droite=vu; right=capteur;*/
yannickrda 0:afd478f066b0 127
yannickrda 0:afd478f066b0 128 void acqui()
yannickrda 0:afd478f066b0 129 {
yannickrda 0:afd478f066b0 130 vu = optique.read_u16();
yannickrda 0:afd478f066b0 131 vu = 422006/(vu-3475);
yannickrda 0:afd478f066b0 132 capteur = capt.read();
yannickrda 0:afd478f066b0 133 bt.printf("Sonar : %f.2\n",capt.read());
yannickrda 0:afd478f066b0 134 bt.printf("Optique : %d\n",vu);
yannickrda 0:afd478f066b0 135 wait(0.1);
yannickrda 0:afd478f066b0 136 }